Multi-mode portable coordinate measuring machine

ABSTRACT

A multi-mode coordinate measuring machine system can be configured to measure coordinates in a variety of ways with a certain set of components. For example, an articulated arm coordinate measuring machine can measure coordinates on an object using a contact probe or a non-contact measuring device mounted on the articulated arm. Then, a user can remove the non-contact measuring device from the articulated arm coordinate measuring machine, and take additional measurements of the object that can be aligned with measurements taken by the articulated arm and devices attached thereto.

PRIORITY INFORMATION

This application claims priority benefit under 35 U.S.C. § 119(e) toU.S. Provisional Patent Application Ser. Nos. 62/052,846, filed 19 Sep.2014 and entitled MULTI-MODE PORTABLE COORDINATE MEASURING MACHINE; and62/059,693, filed 3 Oct. 2014 and entitled MULTI-MODE PORTABLECOORDINATE MEASURING MACHINE, the entirety of each hereby expresslyincorporated by reference herein.

BACKGROUND

Field

The present invention relates to coordinate measuring machines withmultiple modes of operation.

Description of the Related Art

Rectilinear measuring systems, also referred to as coordinate measuringmachines (CMMs) and articulated arm measuring machines, are used togenerate highly accurate geometry information. In general, theseinstruments capture the structural characteristics of an object for usein quality control, electronic rendering and/or duplication. One exampleof a conventional apparatus used for coordinate data acquisition is aportable coordinate measuring machine (PCMM), which is a portable devicecapable of taking highly accurate measurements within a measuring sphereof the device. Such devices often include a probe mounted on an end ofan arm that includes a plurality of transfer members connected togetherby joints. The end of the arm opposite the probe is typically coupled toa moveable base. Typically, the joints are broken down into singularrotational degrees of freedom, each of which is measured using adedicated rotational transducer. During a measurement, the probe of thearm is moved manually by an operator to various points in themeasurement sphere. At each point, the position of each of the jointsmust be determined at a given instant in time. Accordingly, eachtransducer outputs an electrical signal that varies according to themovement of the joint in that degree of freedom. Typically, the probealso generates a signal. These position signals and the probe signal aretransferred through the arm to a recorder/analyzer. The position signalsare then used to determine the position of the probe within themeasurement sphere. See e.g., U.S. Pat. Nos. 5,829,148 and 7,174,651,which are incorporated herein by reference in their entireties. Themeasured position of the end of the arm can be accurate to a distance nogreater than approximately 1 mm, or more preferably 0.5 mm or 0.1 mm. Infurther embodiments, the measured positions can be accurate to adistance no greater than 0.01 mm.

Increasingly, PCMM's are used in combination with an optical or laserscanner. In such applications the optical or laser scanner typicallyincludes an optics system, a laser or light source, sensors andelectronics that are all housed in one box. The laser scanner box isthen, in turn, coupled to the probe end of the PCMM and to a side of theprobe. The various locations that existed for mounting the laserscanning box include positioning the box on top of the probe, forwardand below the axis of the probe, and/or off to the side of the probe. Inthis manner, 2-dimensional and/or 3-dimensional data could be gatheredwith the laser scanner and combined with the position signals generatedby the PCMM. See e.g., U.S. Pat. No. 7,246,030.

While such PCMM and laser scanner combinations have been useful. Asmentioned above, the purpose of PCMM's is to take highly accuratemeasurements. Accordingly, there is a continuing need to improve theaccuracy of such devices.

SUMMARY

In one embodiment a coordinate measuring machine system can include anarticulated arm, a contact probe, and one or more non-contact measuringdevices. The articulated arm can include a plurality of transfer membersand a plurality of articulation members connecting at least two transfermembers to each other. The articulated arm can also include a base at aproximal end and a mounting portion at a distal end. The contact probecan be mounted to the mounting portion, such that the articulated armcan measure a position contacted by the contact probe. The one or morenon-contact measuring devices can be configured to be mounted to themounting portion such that the articulated arm can measure a pluralityof positions simultaneously with the one or more non-contact measuringdevices. Further, the one or more non-contact measuring devices can beconfigured to be removed from the mounting portion and measure aplurality of positions simultaneously while not mounted to anarticulated arm coordinate measuring machine.

In a further embodiment, a method of measuring an object can beprovided. The object can be measured with a measuring device mounted onan articulated arm coordinate measuring machine. The measuring devicecan then be removed from the articulated arm coordinate measuringmachine. Next, the measuring device can measure an object while notmounted on the articulated arm coordinate measuring machine.

BRIEF DESCRIPTION OF THE DRAWINGS

Further objects, features and advantages of the invention will becomeapparent from the following detailed description taken in conjunctionwith the accompanying figures showing illustrative embodiments of theinvention, in which:

FIG. 1 is a perspective view of an embodiment CMM arm with a laserscanner;

FIG. 1A is a side view of the CMM arm of FIG. 1;

FIG. 1B is a top view of the CMM arm of FIG. 1;

FIG. 2 is a perspective view of a coordinate acquisition member of theCMM arm of FIG. 1;

FIG. 2A is a side view of the coordinate acquisition member of FIG. 2;

FIG. 2B is a top view of the coordinate acquisition member of FIG. 2;

FIG. 2C is a side cross-sectional view of the coordinate acquisitionmember of FIG. 2, at 2C-2C;

FIG. 2D is a side outline view of the coordinate acquisition member ofFIG. 2, indicating various dimensions;

FIG. 2E is a perspective view of another coordinate acquisition memberof the CMM arm of FIG. 1;

FIG. 3 is an exploded side view of the coordinate acquisition member ofFIG. 2;

FIG. 3A is a back view of a non-contact coordinate detection device ofFIG. 3, at 3A-3A;

FIG. 3B is a front view of a main body of a coordinate acquisitionmember of FIG. 3, at 3B-3B;

FIG. 4A depicts an alternative coordinate acquisition member;

FIG. 4B depicts a side outline view of the coordinate acquisition memberof FIG. 4A, indicating various dimensions;

FIG. 5A depicts an alternative coordinate acquisition member;

FIG. 5B depicts a side outline view of the coordinate acquisition memberof FIG. 5A, indicating various dimensions;

FIG. 6A depicts an alternative coordinate acquisition member;

FIG. 6B depicts a side outline view of the coordinate acquisition memberof FIG. 6A, indicating various dimensions;

FIG. 7A depicts an alternative coordinate acquisition member;

FIG. 7B depicts a side outline view of the coordinate acquisition memberof FIG. 7A, indicating various dimensions;

FIG. 7C depicts a front outline view of the coordinate acquisitionmember of FIG. 7A, indicating various dimensions;

FIG. 8 is an exploded view of another embodiment of a coordinateacquisition member;

FIG. 8A is a back view of the non-contact coordinate detection device ofFIG. 8;

FIG. 8B is a front view of the main body of the coordinate acquisitionmember of FIG. 8;

FIG. 9 is a front exploded perspective view of the coordinateacquisition member of FIG. 8; and

FIG. 10 is a rear exploded perspective view of the coordinateacquisition member of FIG. 8.

FIG. 11 is a side view of an embodiment multi-mode CMM in a first mode.

FIG. 12 is a side view of the multi-mode CMM of FIG. 11 in a secondmode.

FIG. 13 is a side view of the multi-mode CMM of FIG. 11 in a third mode.

FIG. 14 is a side view of the multi-mode CMM of FIG. 11 in a fourthmode.

FIG. 15 is a perspective view of the multi-mode CMM of FIG. 11 in afifth mode.

FIG. 16A is a side view of a portable measuring unit.

FIG. 16B is a perspective view of the portable measuring unit of FIG.16A.

FIG. 16C is a rear view of the portable measuring unit of FIG. 16A.

FIG. 16D is a perspective view of the portable measuring unit of FIG.16A exploded from a last axis of a CMM arm.

FIG. 16E is an exploded view of the portable measuring unit of FIG. 16A.

FIG. 16F is a perspective view of a main body of the portable measuringunit of FIG. 16A.

FIG. 16G is a perspective view of an area scanner configured to attachto the main body of FIG. 16F.

FIG. 16H is a perspective exploded view of portions of the portablemeasuring unit of FIG. 16A, indicating certain locking features.

FIG. 17 is a perspective view of another embodiment of a portablemeasuring unit.

FIG. 18A is a perspective view of a multi-mode CMM including an areascanner.

FIG. 18B is a perspective view of a user using a portable measuring unitincluding the area scanner of FIG. 18A.

FIG. 18C is a perspective view of the portable measuring unit of FIG.18B.

FIG. 19 depicts an exploded view of a CMM arm, scanner, and handlesystem.

FIG. 20 depicts a scanner and handle system including a display.

FIG. 21 depicts a coordinate measurement system.

DETAILED DESCRIPTION OF CERTAIN PREFERRED EMBODIMENTS

FIGS. 1-1B illustrate one embodiment of a portable coordinate measuringmachine (PCMM) 1 in accordance with the illustrated embodiment. In theillustrated embodiment, the PCMM 1 comprises a base 10, a plurality ofrigid transfer members 20, a coordinate acquisition member 50 and aplurality of articulation members 30-36 connecting the rigid transfermembers 20 to one another. Each articulation member 30-36 is configuredto impart one or more rotational and/or angular degrees of freedom.Through the various articulation members 30-36, the PCMM 1 can bealigned in various spatial orientations thereby allowing finepositioning and orientating of the coordinate acquisition member 50 inthree dimensional space.

The position of the rigid transfer members 20 and the coordinateacquisition member 50 may be adjusted using manual, robotic,semi-robotic and/or any other adjustment method. In one embodiment, thePCMM 1, through the various articulation members 30, is provided withseven rotary axes of movement. It will be appreciated, however, thatthere is no strict limitation to the number of axes of movement that maybe used, and fewer or additional axes of movement may be incorporatedinto the PCMM design.

In the embodiment PCMM 1 illustrated in FIG. 1, the articulation members30-36 can be divided into two functional groupings based on theiroperation, namely: 1) those articulation members 30, 32, 34, 36 whichallow the swiveling motion associated with a specific transfer member(hereinafter, “swiveling joints”), and 2) those articulation members 31,33, 35 which allow a change in the relative angle formed between twoadjacent members or between the coordinate acquisition member 30 and itsadjacent member (hereinafter, “hinge joints”). While the illustratedembodiment includes four swiveling joints and three hinge jointspositioned as to create seven axes of movement, it is contemplated thatin other embodiments, the number of and location of hinge joints andswiveling joints can be varied to achieve different movementcharacteristics in a PCMM. For example, a substantially similar devicewith six axes of movement could simply lack the swivel joint 30 betweenthe coordinate acquisition member 50 and the adjacent articulationmember 20. In still other embodiments, the swiveling joints and hingejoints can be combined and/or used in different combinations.

In various embodiments, the coordinate acquisition member 50 comprises acontact sensitive member or probe 55 (depicted as a hard probe)configured to engage the surfaces of a selected object and generatecoordinate data on the basis of probe contact, as depicted in FIGS. 2-3.In the illustrated embodiment, the coordinate acquisition member 50 alsocomprises a non-contact scanning and detection component that does notnecessarily require direct contact with the selected object to acquiregeometry data. As depicted, the non-contact scanning device comprises anon-contact coordinate detection device 60 (shown as a laser coordinatedetection device/laser scanner) that may be used to obtain geometry datawithout direct object contact. It will be appreciated that variouscoordinate acquisition member configurations including: acontact-sensitive probe, a non-contact scanning device, a laser-scanningdevice, a probe that uses a strain gauge for contact detection, a probethat uses a pressure sensor for contact detection, a device that uses aninfrared beam for positioning, and a probe configured to beelectrostatically-responsive may be used for the purposes of coordinateacquisition. Further, in some embodiments, a coordinate acquisitionmember 50 can include one, two, three, or more than three coordinateacquisition mechanisms.

With particular reference to FIG. 3, in various embodiments of the PCMM1, the various devices which may be used for coordinate acquisition,such as the laser coordinate detection device 60, may be configured tobe manually disconnected and reconnected from the PCMM 1 such that anoperator can change coordinate acquisition devices without specializedtools. Thus, an operator can quickly and easily remove one coordinateacquisition device and replace it with another coordinate acquisitiondevice. Such a connection may comprise any quick disconnect or manualdisconnect device. This rapid connection capability of a coordinateacquisition device can be particularly advantageous in a PCMM 1 that canbe used for a wide variety of measuring techniques (e.g. measurementsrequiring physical contact of the coordinate acquisition member with asurface followed by measurements requiring only optical contact of thecoordinate acquisition member) in a relatively short period of time.Although, as depicted, only the laser coordinate detection device 60 isremoved, in some embodiments the contact sensitive member 55 can also beremoved and replaced in a similar manner.

In the embodiment of FIG. 2, the coordinate acquisition member 30 alsocomprises buttons 41, which are configured to be accessible by anoperator. By pressing one or more of the buttons 41 singly, multiply, orin a preset sequence, the operator can input various commands to thePCMM 1. In some embodiments the buttons 41 can be used to indicate thata coordinate reading is ready to be recorded. In other embodiments thebuttons 41 can be used to indicate that the location being measured is ahome position and that other positions should be measured relative tothe home position. In other embodiments the buttons 41 may be used torecord points using the contact sensitive member 55, record points usingthe non-contact coordinate detection device 60, or to switch between thetwo devices. In other embodiments, the buttons 41 can be programmable tomeet an operator's specific needs. The location of the buttons 41 on thecoordinate acquisition member 50 can be advantageous in that an operatorneed not access the base 10 or a computer in order to activate variousfunctions of the PCMM 1 while using the coordinate acquisition member50. This positioning may be particularly advantageous in embodiments ofPCMM having transfer members 20 that are particularly long, thus placingthe base 10 out of reach for an operator of the coordinate acquisitionmember 50 in most positions. In some embodiments of the PCMM 1, anynumber of operator input buttons (e.g., more or fewer than the twoillustrated), can be provided. Advantageously, as depicted the buttons61 are placed on the handle 40 in a trigger position, but in otherembodiments it may be desirable to place buttons in other positions onthe coordinate acquisition member 50 or anywhere on the PCMM 1. Otherembodiments of PCMM can include other operator input devices positionedon the PCMM or the coordinate acquisition member 50, such as switches,rotary dials, or touch pads in place of, or in addition to operatorinput buttons.

With particular reference to FIG. 1, in some embodiments, the base 10can be coupled to a work surface through a magnetic mount, a vacuummount, bolts or other coupling devices. Additionally, in someembodiments, the base 10 can comprise various electrical interfaces suchas plugs, sockets, or attachment ports. In some embodiments, attachmentports can comprise connectability between the PCMM 1 and a USB interfacefor connection to a processor such as a general purpose computer, an ACpower interface for connection with a power supply, or a video interfacefor connection to a monitor. Other data and power connections are alsopossible, such as Gigabit Ethernet, Camera Link, Firewire, and DC powerinterfaces. In some embodiments, the PCMM 1 can be configured to have awireless connection with an external processor or general purposecomputer such as by a WiFi connection, Bluetooth connection, RFconnection, infrared connection, or other wireless communicationsprotocol. In some embodiments, the various electrical interfaces orattachment ports can be combined and specifically configured to meet therequirements of a specific PCMM 1.

With continued reference to FIG. 1, the transfer members 20 arepreferably constructed of hollow generally cylindrical tubular membersso as to provide substantial rigidity to the members 20. The transfermembers 20 can be made of any suitable material which will provide asubstantially rigid extension for the PCMM 1. The transfer members 20preferably define a double tube assembly so as to provide additionalrigidity to the transfer members 20. Furthermore, it is contemplatedthat the transfer 20 in various other embodiments can be made ofalternate shapes such as those comprising a triangular or octagonalcross-section.

In some embodiments, it can be desirable to use a composite material,such as a carbon fiber material, to construct at least a portion of thetransfer members 20. In some embodiments, other components of the PCMM 1can also comprise composite materials such as carbon fiber materials.Constructing the transfer members 20 of composites such as carbon fibercan be particularly advantageous in that the carbon fiber can react lessto thermal influences as compared to metallic materials such as steel oraluminum. Thus, coordinate measuring can be accurately and consistentlyperformed at various temperatures. In other embodiments, the transfermembers 20 can comprise metallic materials, or can comprise combinationsof materials such as metallic materials, ceramics, thermoplastics, orcomposite materials. Also, as will be appreciated by one skilled in theart, many of the other components of the PCMM 1 can also be made ofcomposites such as carbon fiber. Presently, as the manufacturingcapabilities for composites are generally not as precise when comparedto manufacturing capabilities for metals, the components of the PCMM 1that require a greater degree of dimensional precision are generallymade of a metals such as aluminum. It is foreseeable that as themanufacturing capabilities of composites improved that a greater numberof components of the PCMM 1 can be also made of composites.

With continued reference to FIG. 1, some embodiments of the PCMM 1 mayalso comprise a counterbalance system 110 that can assist an operator bymitigating the effects of the weight of the transfer members 20 and thearticulating members 30-36. In some orientations, when the transfermembers 20 are extended away from the base 10, the weight of thetransfer members 20 can create difficulties for an operator. Thus, acounterbalance system 110 can be particularly advantageous to reduce theamount of effort that an operator needs to position the PCMM 1 forconvenient measuring. In some embodiments, the counterbalance system 110can comprise resistance units (not shown) which are configured to easethe motion of the transfer members 20 without the need for heavy weightsto cantilever the transfer members 20. It will be appreciated by oneskilled in the art that in other embodiments simple cantileveredcounterweights can be used in place or in combination with resistanceunits. Further, although as depicted there is only one counterbalancesystem 110 unit, in other embodiments there can be more.

In some embodiments, the resistance units can comprise hydraulicresistance units which use fluid resistance to provide assistance formotion of the transfer members 20. In other embodiments the resistanceunits may comprise other resistance devices such as pneumatic resistancedevices, or linear or rotary spring systems.

The position of the contact sensitive member 55 in space at a giveninstant can be calculated by knowing the length of each rigid transfermember 20 and the specific position of each of the articulation members30-36. Each of the articulation members 30-36 can be broken down into asingular rotational degree of motion, each of which is measured using adedicated rotational transducer. Each transducer outputs a signal (e.g.,an electrical signal), which varies according to the movement of thearticulation member in its degree of motion. The signal can be carriedthrough wires or otherwise transmitted to the base 10. From there, thesignal can be processed and/or transferred to a computer for determiningthe position of the coordinate acquisition member 50 and its variousparts in space.

In one embodiment, the transducer can comprise an optical encoder. Ingeneral, each encoder measures the rotational position of its axle bycoupling is movement to a pair of internal wheels having successivetransparent and opaque bands. In such embodiments, light can be shinedthrough the wheels onto optical sensors which feed a pair of electricaloutputs. As the axle sweeps through an arc, the output of the analogencoder can be substantially two sinusoidal signals which are 90 degreesout of phase. Coarse positioning can occur through monitoring the changein polarity of the two signals. Fine positioning can be determined bymeasuring the actual value of the two signals at the instant inquestion. In certain embodiments, maximum accuracy can be obtained bymeasuring the output precisely before it is corrupted by electronicnoise. Additional details and embodiments of the illustrated embodimentof the PCMM 1 can be found in U.S. Pat. No. 5,829,148, the entirety ofwhich is hereby incorporated by reference herein.

With reference to FIGS. 1, 1A, and 1B, in some embodiments, the PCMM 1can comprise one or more rotatable grip assemblies 122, 124. In theillustrated embodiment, the PCMM 1 can comprise a lower rotatable gripassembly 122 and an upper rotatable grip assembly 124. Advantageously,having a lower rotatable grip assembly 122 and an upper rotatable gripassembly 124 disposed on a last transfer member 21, allows the operatorto easily use both hands in positioning the PCMM 1. In otherembodiments, the PCMM 1 can comprise one, or more than two rotatablegrips. Additional details of the grip assemblies can be found inApplicant's co-pending U.S. patent application Ser. No. 12/057,966,filed Mar. 28, 2008, the entirety of which is hereby incorporated byreference herein

While several embodiments and related features of a PCMM 1 have beengenerally discussed herein, additional details and embodiments of PCMM 1can be found in U.S. Pat. Nos. 5,829,148 and 7,174,651, the entirety ofthese patents being incorporated by reference herein. While certainfeatures below are discussed with reference to the embodiments of a PCMM1 described above, it is contemplated that they can be applied in otherembodiments of a PCMM such as those described in U.S. patent applicationSer. No. 12/748,169, filed 26 Mar. 2010, entitled “IMPROVED ARTICULATEDARM;” Ser. No. 12/748,243, filed 26 Mar. 2010, entitled “SYSTEMS ANDMETHODS FOR CONTROL AND CALIBRATION OF A CMM;” Ser. No. 12/748,278,filed 26 Mar. 2010, entitled “CMM WITH IMPROVED SENSORS;” Ser. No.12/748,206, filed 26 Mar. 2010, entitled “CMM WITH MODULARFUNCTIONALITY;” and Ser. No. 12/746,267, filed 26 Mar. 2010, entitled“ENHANCED POSITION DETECTION FOR A CMM,” the entire contents of thesepatent applications being incorporated herein by reference.

As depicted in FIG. 1, the PCMM can include a coordinate acquisitionmember 50 at an end of its arm. FIGS. 2-3 depict the coordinateacquisition member 50 in more detail. As shown, the coordinateacquisition member 50 can include a contact sensitive member 55 and alaser coordinate detection device 60 facing a front end 54. Thecoordinate acquisition member 50 can further attach to a handle 40 at alower end 51 and the PCMM 1 at a rear end 52. The coordinate acquisitionmember 50 can further include a top end 53. At the rear end 52, thecoordinate acquisition member 50 can further include a data connection(not shown) with the hinge 31, such as a slip ring connection, a directwire, or some other connection. This can allow data transfer between thecoordinate acquisition member 50 and the PCMM 1. The PCMM 1 can includesimilar data transfer elements along its arm, allowing data transmissionbetween the coordinate acquisition member 50 and the base 10, or anyperipheral computing medium external to the PCMM arm.

The laser coordinate detection device 60 can include a light source 65(depicted as a laser) and an optical sensor 70 (depicted as a camera),and can acquire positional data by a method of triangulation. The laseror light source 65 can create an illuminated laser plane including alaser line L4. The camera 70 can be displaced from the laser plane andfurther be non-parallel to the laser plane. Accordingly, the camera 70will view points as higher or lower, depending on their position furtheror closer to the laser 65. Similarly, the camera 70 will view pointsilluminated by the laser as being either further to the left or theright, according to their actual position relative to the laser 65.Comparing the geometric relationship between the position andorientation of the laser 65 and the camera 70 will allow one of skill inthe art to appropriately translate the position of the image of thelaser-illuminated point in the image captured by the camera 70 to anactual position in space in conjunction with the position of thecoordinate acquisition member 50 itself.

In FIG. 1, a plurality of the axes of movement are marked according totheir proximity to the coordinate acquisition member 50. As depicted,the coordinate acquisition member 50 can pivot about a last axis ofrotation L1 on a swivel 30. The last axis of rotation L1 and the swivel30 are more clearly depicted in FIG. 2C. As shown, the laser coordinatedetection device 60 mounts bearings 150, 151 at an end of the PCMM arm1. The orientation and position of the bearings 150, 151 cansubstantially define the last axis L1. Thus, the laser coordinatedetection device 60 can rotate about the last axis L1, independent ofthe contact sensitive member (depicted as a probe) 55. In someembodiments, the contact sensitive member 55 is not rotatable, reducingpotential error from any eccentricity between the contact sensitivemember 55 and the last axis L1. The swivel 30 can rotate about a secondto last axis of rotation L2 at the end of the last rigid transfer member21 on a hinge joint 31. Like the bearings 150, 151 and the last axis L1,the second to last axis L2 can be substantially defined by a hinge shaft140. As depicted, the last axis L1 can also be considered a roll axis,and the second to last axis can also be considered a pitch axis.Similarly, rotation about a third to last axis L3 can be considered ayaw axis.

The handle 40 can also generally comprise a pistol-grip style, which canfurther include ergonomic grooves corresponding to human fingers (notshown). The handle can also have a generally central axis L5.Optionally, within the handle 40, a battery 42 can be held. In someembodiments the handle 40 can include a sealed battery, as described inU.S. Publication No. 2007/0256311A1, published Nov. 8, 2007, which isincorporated by reference herein in its entirety. Further, the battery42 can insert through the bottom of the handle 40. In other embodiments,the battery 42 can insert through the top of the handle 40, and thehandle 40 can release from the coordinate acquisition member 50 toexpose an opening for battery insertion and removal. The battery can beprovided to power the laser scanner, rotational motors about one of thearticulation members 30-36, and/or other types of probes or devices.This can reduce current draw through the arm, decrease overall powerrequirements, and/or reduce heat generated in various parts of the arm.

In one embodiment, data can be transmitted wirelessly to and from eitherthe coordinate acquisition member 50 or the non-contact coordinatedetection device 60 and the base of the PCMM 1 or to an external devicesuch as a computer. This can reduce the number of internal wires throughthe PCMM 1. It can also reduce the number of wires between the PCMM 1and the computer. Further, the handle can optionally include a wiredconnection, through the PCMM 1, to an external device, and/or a wiredconnection outside the PCMM 1 to an external device. When the handle canpotentially connect directly to the external device, outside the PCMM 1,the handle can optionally include a data port that can connect both to awired connection through the arm and to a wired connection outside, orindependent of, the arm. Wires outside the arm are not limited by spaceconstraints and constraints related to rotation of the wires inside thearm, and thus can potentially provide a higher data bandwidth (and alsopotentially a higher power output when used as a power cable).

The handle can also optionally include a memory. The memory canoptionally store various types of data, such as data recorded by anon-contact coordinate detection device, instructions or software tooperate components of a coordinate acquisition member, or other data.This data can be uploaded or downloaded when the handle is incommunication with an external device, either by wire or wirelessly.Thus, large amounts of data can be transferred even if only a lowbandwidth (or no bandwidth) is available during measurement. Further,data processing can be performed by a processor on the handle, such thatfile sizes that need to be transmitted can be reduced. Similar conceptsare further described, below.

Above the handle 40, the coordinate acquisition member 50 can include amain body 90, best depicted in FIG. 3. The main body 90 can connectdirectly to the hinge 31 at the rear end 52 of the coordinateacquisition member 50. The main body 90 can further hold the contactsensitive member 55. In preferred embodiments, the main body 90 can evenfurther hold the contact sensitive member 55 in near alignment with theswivel 30, such that an axis of the contact sensitive member 55 extendsnear the last axis L1 of the swivel 30. In some embodiments, the axis ofthe contact sensitive member 55 can pass through the last axis L1 of theswivel 30. In other embodiments the axis of the contact sensitive member55 can pass within 10 mm of the last axis L1, this distancecorresponding to D3 (depicted in FIG. 2D).

As best depicted in FIG. 3B, the main body 90 can further include amounting portion 91, a recess 92, and a data port 93, configured tointeract with a laser coordinate detection device (depicted as a laserscanner) 60. The laser scanner 60, as best depicted in FIG. 3A, caninclude an upper housing 80, a laser 65, and a data port 101. As shownin FIG. 3, the laser scanner 60 can be configured to mount on the mainbody 90 as an auxiliary body (which can include different devices inother embodiments). The upper housing 80 can be shaped to match themounting portion 91, and can accordingly be received by that portion.The recess 92 can be shaped to receive the laser 65 when the mountingportion 91 receives the upper housing 80. Upon these interactions, thedata ports 93, 101 can interact to pass information between the mainbody 90 and the laser scanner 60 (and accordingly further along the PCMMarm 1 as described above). The laser coordinate detection device 60 canfurther include a base-plate 75. The base-plate 75 can include a port 85configured to receive the contact sensitive member 55 when the laserscanner 60 mounts to the main body 90. Additionally, the base-plate 75can include assembly holes 104 that can interact with assembly holes 94on the main body 90, along with fasteners (not shown), to secure themain body 90 and laser scanner 60 together. It will be clear that avariety of screws and other fasteners can be used to attach the mainbody 90 and the laser scanner 60. For example, in some embodiments theycan be attached by a snap-lock mechanism, allowing easy attachment andremoval. Further, in some embodiments a repeatable kinematic mount canbe used, where the laser scanner 60 can be removed and remounted to themain body 90 without tools. It can be remounted with a high level ofrepeatability through the use of a 3-point kinematic seat as is known inthe industry.

When the PCMM 1 is intended to provide accurate position data, the PCMMcan be designed to minimize the errors at both the contact sensitivemember 55 and at the non-contact coordinate detection device 60. Theerror of the coordinate acquisition member 50 can be reduced byminimizing the effect of the errors of the last three axes on both thecontact sensitive member 55 and the non-contact coordinate detectiondevice 60. The maximum error of the contact sensitive member 55 can berepresented in the following equations as Ep, which is primarily afunction of the errors of each of the last three axes (L1-L3) and thedistances from the probe center to the axes. Likewise, the error of thenon-contact coordinate detection device 60 can be represented as Es andis primarily a function of the errors of each of the last three axes(L1-L3) and the distances from the optical center point P1 to the axes.Ep=(d1*e1)+(d2*e2)+(d3*e3)Es=(d1′*e1)+(d2′*e2)+(d3′*e3)

Where e1, e2, and e3 represent the absolute value of the angular errorat each of the three last axes of rotation at the articulation members30, 31, and 32 respectively; and d1, d2, d3, d1′, d2′, and d3′ representthe distance from the respective axes to either the probe center or theoptical center point (or laser focus) P1. As will be explained infurther detail to follow, the PCMM 1 can enhance the accuracy of thecoordinate acquisition member 50 by supplying a superior geometry toreduce both errors Ep and Es while at the same time balancing the Centerof Gravity (CG) of the coordinate acquisition member 50 over the handle40 and reducing the overall height of the coordinate acquisition member50 (d4) as shown in FIG. 2D.

When the laser scanner 60 mounts the main body 90, a variety ofgeometric properties can arise between coordinate acquisition elements.For example, as depicted the camera 70, the contact sensitive member 55,and the laser 65 can be directly integrated with the last axis L1. Forexample, as depicted the camera 70, contact sensitive member 55, andlaser 65 can be generally collinear when viewing from the front (e.g.along axis L1), with the contact sensitive member 55 in the middle andaligned with the last axis L1 (i.e. d1=0). Further, as depicted theupper housing 80, contact sensitive member 55, and the laser 65 can bearranged generally parallel to the last axis L1. However, the camera 70can be oriented at an angle relative to the last axis L1 so as to viewthe laser plane.

Such arrangements can be advantageous in a number of ways. For example,in this arrangement the angular position of the elements about L1 can beapproximately equal (with the exception of a 180 degree offset when ondifferent sides of the last axis L1), simplifying data processingrequirements. As another example, providing these elements aligned withthe last axis L1 can facilitate counterbalancing the weight of theseelements about the last axis, reducing error from possible deflectionand easing movement about the axis. As depicted in FIG. 2D, the centerof gravity (CG) of the coordinate acquisition member 50 can lie alongL1. Even further, the error associated with the angle of rotation aboutthe last axis L1 is amplified by the perpendicular distance from theaxis to the center of the laser plane emitted by the laser 65 (depictedas d1′ in FIG. 2D). In this orientation, the perpendicular distance isminimized. In some embodiments, the perpendicular distance from thecenter of the laser plane to the last axis can be no greater than 35 mm.Notably, in other embodiments it may be desirable to move the laser 65even closer to the last axis L1, such as by aligning directly therewith.However, the accuracy of the contact sensitive member 55 is alsopartially dependent on its proximity to the last axis L1; and, asdescribed below, some other advantages can arise from separating thelaser 65 from the camera 70.

As further depicted, when the laser scanner 60 mounts the main body 90,the contact sensitive member 55 and the laser coordinate detectiondevice 60 can form a compact design. For example, the laser 65 and/orthe camera 70 can extend past the one or both of the bearings 150, 151.As depicted, the laser 65 extends, at least partially, beyond thebearings 151 but not the bearings 150; and the camera 70 extends beyondboth bearings. In other embodiments, these elements can extend to thebearings, and not pass them. Generally, causing these elements tooverlap reduces the necessary length of the coordinate acquisitionmember 50.

In some embodiments such compact designs can allow the coordinateacquisition elements to be closer to the second to last axis L2, as wellas the last axis L1. Accordingly, the distance between the second tolast axis L2 and the points of measurement (e.g. at the tip of thecontact sensitive member 55 and/or at the focus P1 of the camera 70) canbe reduced. As the error in the angular position of the coordinateacquisition member 50 along the second to last axis L2 is amplified bythese distances, this also reduces the error of the PCMM 1 in otherways. For example, the compact design can also reduce error related tothe distance from the focus P1 to the third to last axis L3, representedas d3′. Additionally, providing the elements of the coordinateacquisition member 50 closer to the second and third to last axes L2, L3can reduce deflection, reducing error even further. In some embodimentsthe contact sensitive member 55 can be within 185 mm of the secondand/or third to last axis L2, L3, and the focus P1 of the camera 70 canbe within 285 mm of the third to last axis. As best depicted in FIG. 2D,the compact design can further bring a center of gravity (CG) of thecoordinate acquisition member 50 closer to a central axis L5 of thehandle 40. In some embodiments, the distance between the center ofgravity and the central axis of the handle 40 can be no greater than 20mm. As yet another advantage to the compact design, the vertical heightd4 of the coordinate acquisition member 50 can be reduced, allowingmeasurement in tighter spots. In some embodiments the height can be nogreater than 260 mm. Notably, as the coordinate acquisition member 50 inthe depicted embodiment rotates about the last axis L1, the height d4can also represent a maximum length of the coordinate acquisition member50.

In some embodiments, the laser scanner 60 can include additionaladvantages. For example, the laser scanner 60 can isolate the laser 65from heat generated by the other parts of the PCMM arm 1. For example,as depicted in FIG. 3, a base plate 75 holds the laser 65 at one end andthe camera 70 at the other, separated by the contact sensitive member55. In some embodiments the base plate 75 can include a material with alow coefficient of thermal expansion such as Invar, Ceramic, or CarbonFiber. Reducing thermal expansion can reduce changes in the position andorientation of the laser 65 and/or the camera 70, which could createproblems such as introducing additional error into the measurements.Similarly, the base plate 75 can also include a material with a lowthermal conductivity, hindering transmission of heat, for example, fromthe camera 70 to the laser 65 or PCMM 1.

As depicted, the camera 70 can be held in an upper housing 80 of thelaser scanner 60, and in some embodiments the upper housing can includemultiple cameras as shown in FIG. 2E. The upper housing 80 can includematerials such as aluminum or plastic. Additionally, the upper housing80 can protect the camera 70 from atmospheric contaminants such as dust,liquids, ambient light, etc. Similarly, the laser 65 can be protected bythe recess 92 of the main body 90. In some embodiments, the recess 92can include a thermal isolation disc or plate with a low coefficient ofthermal expansion and/or conductivity, protecting the laser fromexternal heat and substantially preserving its alignment.

In many embodiments, the electronics 160 associated with the lasercoordinate detection device 60 can create a substantial amount of heat.As discussed above, various components can be protected from this heatwith materials having low coefficients of thermal expansion andconductivity for example. As depicted, the electronics 160 can bepositioned in the upper housing 80 of the laser scanner 60.

However, in other embodiments the electronics 160 can be positionedfurther from the sensors 55, 60, such as in a completely separatehousing. For example, in some embodiments the electronics 160 can beheld by the laser scanner 60 in a separate housing, also attached to thebase plate 75. In other embodiments, the electronics 160 can be locatedfurther down the PCMM 1, such as in a rigid transfer member 20 or in thebase 10. Moving the electronics 160 further down the PCMM 1 can reduceweight at the end of the arm, minimizing deflection of the arm.Similarly, in some embodiments the electronics 160 can be completelyoutside the PCMM 1, such as in a separate computer. Data from thesensors 55, 70 can be transmitted through the PCMM 1 on an internalcable in the arm, wirelessly, or by other data transmission methods. Insome embodiments, data ports 93, 101 can include spring loaded pins suchthat no cables are externally exposed.

As another advantage of the depicted embodiment, the depicted layout ofthe system can use a smaller volume. The laser coordinate detectiondevice 60 can sometimes operate on a theory of triangulation.Accordingly, it may be desirable to leave some distance between thelaser 65 and the camera 70. The depicted embodiment advantageouslyplaces the contact sensitive member 55 within this space, reducing thevolume of the coordinate acquisition member 50. Additionally, the lastaxis L1 also passes through this space, balancing the system andreducing the coordinate acquisition member's 50 rotational volume. Inthis configuration, the combination of axis and laser scanner canfurther be uniquely optimized to reduce weight, as the more compactdesign reduces deflection, and accordingly reduces the need forheavy-load bearing materials.

To further illustrate the advantages of the above-described embodiments,FIGS. 4-7 depict modified configurations in which the laser scanner andor image sensor is positioned in different locations. In FIGS. 4A, 4B,the scanner is centered on the last axis, displacing the contactsensitive member, and is further forward. Accordingly, d1′ has beenreduced to zero, but d1 has increased, essentially transferring errorfrom the non-contact measuring device to the contact measuring device.Additionally, in this embodiment, both the measuring devices 55, 60 arefurther from the second and third to last axes L2, L3, increasing d2,d2′, d3, and d3′. Even further, as the center of gravity CG is displacedforward, away from the handle's axis L5, the coordinate acquisitionmember can be more difficult to maneuver as d5 is larger, and canfurther suffer greater deflection.

In FIGS. 5A, 5B, the scanner is above the last axis. Accordingly, thereis a large distance between the last axis and the laser area (d1′) aswell as a larger maximum length d4 of the coordinate acquisition member50. Further, displacing the center of gravity CG from the last axis L1can hinder the maneuverability of the coordinate acquisition member 50.Additionally, the scanner is slightly more forward, increasing thedistance from the focus P1 to the second and third to last axes (d3′).

In FIGS. 6A, 6B, the scanner is further forward and below the last axis.Accordingly, there is a large distance between the last axis and thelaser area (d1′) and a similarly large distance between the second andthird to last axes and the scanner's focus P1 (d3′). Further, the centerof gravity CG is displaced from the last axis L1 and the handle (d5),hindering the maneuverability of the coordinate acquisition member 50.

In FIG. 7A, 7B, 7C, with the scanner off to the side of the last axis,there is a large distance between the last axis and the laser area(d1′), and a large distance between the second and third to last axesand the scanner's focus P1 (d3′). Further, displacing the center ofgravity CG from the last axis L1 and the handle's axis L5 can hinder themaneuverability of the coordinate acquisition member 50.

FIGS. 8-10 depict an alternative mechanism for mounting a laser scanner60′ to a main body 90′. As shown, the laser scanner 60′ can comprise 3pins 200 equally radially spaced about the port 85. These pins 200 caninteract with 3 similarly sized slots 202 formed on the main body 90′,and equally radially spaced about the contact sensitive member 55′.Thus, when the laser scanner 60′ is applied to the main body 90′ suchthat the contact sensitive member 55′ passes through the port 85, thepins 200 can enter the slots 202. The pins 200 and slots 202 can beprecisely-shaped to match each other, such that when the laser scanner60′ and the main body 90′ are urged against each other the pin-slotcombination can form a kinematic mounting that holds their relativeangular position constant.

In some embodiments, the mounting mechanism can be varied. For example,in some embodiments the pins 200 and slots 202 can be spaced differentlyabout the port 85 and/or the contact sensitive member 55′. In furtherembodiments, additional pins and slots can be included. In otherembodiments each of the pins 200 can interact with 2 spheres on the mainbody 90′ instead of slots 202. In additional embodiments, sphericalballs can insert into tetrahedral holes. Further, combinations ofvarious interacting shapes can be used in other embodiments to form akinematic mounting.

As depicted, the scanner 60′ can be urged against the main body 90′ by awave spring 204 in combination with a nut 206. The nut 206 can mount thecontact sensitive member 55′ after the scanner 60′ and the wave spring204. As depicted, a cylindrical extension of the main body 90′ thatreceives the contact sensitive member 55′ can include external threading210 that threadably receive the nut 206. Rotation of the nut 206 aboutthe threading 210 can then urge the wave spring 204 against the scanner60′ (and more particularly in this embodiment the base plate 75 of thescanner 60′) into the main body 90′.

Variations are also possible. For example, in some embodiments astandard coil spring can be used instead of a wave spring, such as wherethere is ample axial space for a larger spring. Further, in someembodiments the wave spring can be a wave washer, while in otherembodiments the wave spring can have multiple coils. Further structurescan also be used to mechanically isolate the scanner 60′ from the mainbody 90′ of the CMM arm 1, such as a padding member between the scanner60′ and the nut 206 that can resiliently deform.

Such mechanical isolation of the scanner 60′ from the main body 90′, theCMM arm 1, and the contact sensitive member 55′ can reduce deflectionsin one or more of those components from causing similar deflections onthe scanner 60′. Thus, for example, if the contact sensitive member 55′contacts a measured item causing it and the main body 90′ to deflect,the mechanical isolation will reduce any coinciding deflection in thescanner 60′. A further advantage of the wave spring or of a compressiblepadded interface member is that it can thermally isolate the scannerfrom the arm and vice versa by separating the scanner from the bolt.Even further, in some embodiments a wave spring or a compressible paddedinterface member can be added on the other side of the scanner 60′,between the scanner and the main body 90′, more fully isolating thescanner from the main body mechanically and thermally.

As another variation, in some embodiments the width of a cylindricalportion of the main body/contact sensitive member can be graded,reducing the probability of interference between the laser scanner 60′and the threaded portion 210. Even further, in some embodimentsadditional components can be included on the cylindrical portion such asa washer or the like. It will also be noted that in some embodiments atleast a portion of the extension can have a non-cylindrical shape. Evenfurther, in some embodiments the external threading 210 can be disposedon the contact sensitive member 55′ (or another form of probe in asimilar position), potentially providing more space for the wave spring204.

In further embodiments, a bayonet connector can be used to attach thecontact sensitive member 55′ or the scanner 60′ to the main body 90′, asshown in FIG. 16H. In such embodiments, the bayonet connector caninclude, for example, a male portion 128A with a radial protrusion and afemale receiving portion 127A with a hooked slot. The male portion 128Acan enter the female portion 127A and enter the hooked portion tosubstantially lock the connection. A spring 126A, such as thosediscussed herein, can hold the male portion within the hooked portion.In another embodiment the male portion 128A with radial protrusions caninteract with the female receiving portion 127A that has mating radialprotrusions such as to form an axial lock when one is rotated relativeto the other. In some embodiments this rotation could be between 10 and30 degrees. In some embodiments the mating of the male and femaleportions 127A, 128A forms a repeatable kinematic mount. In anotherembodiment the bayonet connector can be used to apply axial force to thescanner which causes kinematic registration into slot and pin nests (orother shapes for kinematic mounts, as described above).

Even further, in some embodiments the contact sensitive member 55′ canalso be mounted with a wave spring or another structure (as discussedabove) mechanically isolating it from the CMM arm 1. Thus, in a similarmanner, a deflection of the contact sensitive member 55′ can beprevented from causing similar deflections on the CMM arm 1.

Advantageously, in some embodiments the CMM arm 1 can be assembled instages. For example, the contact sensitive member 55′ can be mounted tothe CMM arm 1, in some embodiments with a wave spring between it and thearm. Next, the scanner 60′ can be mounted to the CMM arm 1, over thecontact sensitive member 55′. In some embodiments, this mounting caninclude a kinematic mount setting a rotational position of the scanner60′ on the arm 1 (e.g. on an articulating member 30 or on the contactsensitive member 55′). Notably, in some embodiments the scanner 60′ canstill rotate relative to the contact sensitive member 55′ and somecomponents of the arm 1, as discussed above in relation to bearings 150,151 in FIG. 2C.

After the scanner 60′ has been mounted, a wave spring 204 can be mountedin a similar manner. A nut 206 can then be threadably mounted onto theCMM arm 1, over the contact sensitive member 55′. As the nut 206advances onto the CMM arm 1, it can urge the wave spring 204 onto thelaser scanner 60′, firming its position on the kinematic mount. In someembodiments, the nut 206 can be advanced using a torque wrench toprevent an excessive tightening that might cause a deflection on thescanner 60′.

In further embodiments, a multi-mode coordinate measuring machine can beconfigured to take measurements in a plurality of modes with uniqueequipment and functionality in each mode. For example, the multi-modecoordinate measuring machine can be a CMM arm 1A, as depicted in FIGS.11-17. As shown, the CMM arm 1A can be similar to the CMM arms describedherein and in U.S. Pat. No. 8,112,896 and U.S. patent application Ser.No. 14/133,365, each of which incorporated by reference in theirentireties. Various features from these CMM arms can be optionallyincluded to produce a machine capable of measuring a plurality ofpositions. For example, in some embodiments the measuring devices can beused with other articulated arms, or the articulated arm can be usedwith other measuring devices.

In the embodiment CMM arm 1A, a measuring device structure of the armcan be optionally removed to provide improved versatility, as furtherdescribed herein. Further, a plurality of different measuring devicescan be included on the CMM arm 1A, facilitating coordinate measurementin a variety of ways. Although certain specific embodiments aredescribed herein, other additional features or subsets of features canalso be used.

As shown in FIG. 11, the CMM arm 1A can be used in a first modeconfigured to measure coordinates with a contact probe. A measuringdevice structure 200A of the arm 1A is depicted as being mounted to anend of the arm 1A, such as just distal of or over a last axis of thearm. Further, the measuring device structure 200A is shown in FIG. 11 ashaving a contact probe 55A, which can be any kind of contact probedescribed herein or otherwise. Additional measuring devices are notdepicted on the arm 1A and the measuring device structure 200A, but theycan optionally be mounted on the arm 1A while taking measurements in thefirst mode, with the contact probe 55A. Advantageously, without theadditional measuring devices, the measuring device structure 200A canhave a smaller size, such that the contact probe 55A can more easilyreach positions in small spaces. The contact probe 55A can be optionallyremoved and replaced, such that different types, shapes, and sizes ofcontact probes can be used with the CMM arm 1A. More generally, the CMMarm 1A can include a mounting portion (such as on the measuring devicestructure 200A) that can receive the contact probe 55A, and othercoordinate measuring devices as described further herein.

As shown in FIG. 12, the CMM arm 1A can also be used in a second modeconfigured to measure coordinates with a non-contact coordinatemeasuring device such as a laser scanner 60A (similar to the non-contactcoordinate detection devices 60, 60′, described herein). The laserscanner 60A can optionally mount to the device in a way similar to thatdescribed above for the laser scanner 60′ (e.g., on the measuring devicestructure 200A). The laser scanner 60A can then take a large number ofpoints quickly, along a line, for example. Prior to measurement, thecontact probe 55A can optionally be used to facilitate alignment betweenmeasurements made by the contact probe 55A and the laser scanner 60A,e.g. by measuring the same unique feature with each measuring device.

As shown in FIG. 13, the CMM arm 1A can also be used in a third modeconfigured to measure coordinates with a different non-contactcoordinate measuring device, such as an area scanner 100A. The areascanner 100A can optionally mount to the device in ways similar to thatdescribed above for the laser scanner 60A (e.g., on the measuring devicestructure 200A). The area scanner 100A can then measure a large numberof points quickly, such as a point cloud within a two-dimensional image.In some embodiments, the area scanner 100A can use stereo vision (e.g.,with two or more cameras) to measure the coordinates. Further, in someembodiments the area scanner 100A can also optionally include aprojector configured to project a light pattern on an object to bemeasured, facilitating point detection by one or more cameras on thearea scanner. When the object being measured has identifiable featuresor otherwise has a sufficient texture, the area scanner 100A can measurecoordinates without a projector more easily. Prior to measurement withthe area scanner 100A, the contact probe 55A can optionally be used tofacilitate alignment between measurements made by the contact probe 55Aand the area scanner 100A, e.g., by measuring the same unique featurewith each measuring devices. In a similar manner, the area scanner 100Aand the laser scanner 60A can also be optionally aligned by measuringthe same features with both measuring devices. In some embodiments, itmay be advantageous to align measurements of two or more non-contactcoordinate measuring devices with a contact probe 55A. A processor incommunication with the measuring devices can then align measurementsbetween the non-contact measuring devices, using their alignment withthe contact probe 55A.

As shown in FIG. 14, the CMM arm 1A can also be used in a fourth modeconfigured to measure coordinates with two or more non-contactcoordinate measuring devices, such as an area scanner 100A and a laserscanner 60A. As shown, both can optionally be mounted to a distal end ofthe CMM arm 1A at the same time, e.g., on the measuring device structure200A. In some embodiments each of the non-contact measuring devices(e.g., area scanner 100A and laser scanner 60A) can be independentlymounted to the CMM arm 1A. In other embodiments, two or more non-contactmeasuring devices can together mount to the CMM arm 1A as a single part,or a single unit. The non-contact measuring devices can optionally bealigned with the contact probe 55A in ways similar to those discussedabove. Optionally, the two or more non-contact measuring devices canboth take measurements of an object simultaneously. Thus, measurementscan be made faster than when using only one non-contact measuringdevice.

Further, the laser scanner 60A and the area scanner 100A can optionallyshare processors, a common physical frame, covers, and a single mountinginterface for mounting to the CMM arm 1A (as discussed further herein).This sharing of electronic and physical components can be used when thetwo non-contact measuring devices 60A, 100A form a single part or asingle unit. In other embodiments, when they do not form a single unit,their components can still optionally be shared when attached or mountedto the same device. For example, processors, power sources, wirelesscommunication devices, and other components can be shared when attachedor mounted to the same device. Thus, a common measuring device structure200A or portion of a measuring device structure such as a handle canprovide these shared components.

Notably, the various measuring devices can be configured to synchronizewith measurements taken by the CMM arm 1A. Thus, a position of the armcan be associated with a synchronous or substantially synchronousmeasurement taken by a contact or non-contact measuring device. This canbe done in a variety of ways, such as using trigger signals as discussedin U.S. Pat. No. 8,112,896, which is incorporated by reference in itsentirety.

As shown in FIG. 15, one or more measuring devices described above canoptionally be removed from the CMM arm 1A to take measurements in afifth, more portable mode. The measuring devices can optionally bemounted and removed by the operator by hand or with tools. For example,in some embodiments the measuring devices can attach to the measuringdevice structure 200A using snap-fits, threaded mounts, hand-operatedlocks, and other attachments that can be made by hand, without tools.The measuring devices can further include kinematic nests providingrepeatable alignment with the measuring device structure 200A (or, inreverse, the CMM arm can include kinematic nests) as described herein.Similarly, the measuring device structure 200A can also optionally bemounted and removed from the CMM arm 1A with similar attachmentfeatures. Additionally, an electrical interface can exist between themeasuring devices and the measuring device structure 200A. Further, themeasuring device structure 200A can have an electrical interface withthe CMM arm 1A, such that when the measuring device structure 200A isconnected to the arm, power and/or data can be communicated through theelectrical interface between the CMM arm 1A and the measuring devicessuch as the laser scanner 60A or the area scanner 100A.

As shown, one or more measuring devices (such as an area scanner 100Aand a laser scanner 60A) can be removed from the CMM arm 1A as a singleportable measuring unit 210A which can be used to take coordinatemeasurements. In the depicted embodiment, the portable measuring unit210A includes two measuring devices, although more than two are alsopossible. Similarly, the portable measuring unit 210A might only includeone measuring device, such as only an area scanner 100A or only a laserscanner 60A, as further discussed herein. In some embodiments, theentire measuring device structure 200A of the CMM arm 1A can be removedto form the portable measuring unit 210A, such that the portablemeasuring unit and the measuring device structure are the same. In otherembodiments, the portable measuring unit 210A can be removable as partof but not all of the measuring device structure 200A, such as when thecontact probe 55A is left attached to the CMM arm 1A. In otherembodiments, the portable measuring unit 210A can be removable withparts of the CMM arm 1A that are not part of the measuring devicestructure 200A. For example, the portable measuring unit 210A canoptionally include a pistol grip portion of the CMM arm 1A that is notnecessarily part of the measuring device structure 200A. Further, theportable measuring unit 210A can attach to the CMM arm 1A with akinematic mount, such that the measuring unit can be reattached insubstantially the same position and can continue to take measurementswithout recalibration, powering on/off the devices, or other disruptionsto the measurement process.

In some embodiments, electronics to operate the non-contact measuringdevice(s) can be included within the measuring device structure 200 a,such as in the handle. For example, as discussed above, sharedbatteries, memory, processors, wireless communication devices, and otherfeatures can be included in the handle. Thus, a user can substitutedifferent measuring devices, and each measuring device can have accessto the features included in the handle. In further embodiments, theportable measuring unit 210A can communicate wirelessly or through awired connection to the CMM arm 1A or an auxiliary computing device, tosend measured coordinates and other data, and receive commands or otherinformation. Optionally, the portable measuring unit 210A can beassociated with a wearable pack 220A that can optionally be connected bya cable to the portable measuring unit, and can be carried by a useralso carrying the portable measuring unit. The wearable pack 220A canoptionally include a power source, memory, wireless communicationmodules, microprocessors, Graphical Processor Units, or other featuresand functionalities, such as in a feature pack 190A. Similar featurescan also, or alternatively, be included in the measuring devicestructure, such as in the handle.

One or more feature packs 190A can connect with the base 10 of the CMMarm 1A via a docking portion. The docking portion 12 can form anelectronic connection between the CMM arm 1A and the feature pack 190A.In some embodiments the docking portion can provide connectivity forhigh-speed data transfer, power transmission, mechanical support, andthe like. Thus, when connected to a docking portion, a feature pack 190Acan provide a modular electronic, mechanical, or thermal component tothe CMM arm 1A, allowing a variety of different features andfunctionality such as increased battery life, wireless capability, datastorage, improved data processing, processing of scanner data signals,temperature control, mechanical support or ballast, or other features.In some embodiments this modular functionality can complement or replacesome modular features of other portions of a multi-mode coordinatemeasuring machine. The modular feature packs can contain connectors forenhanced functionality, batteries, electronic circuit boards, switches,buttons, lights, wireless or wired communication electronics, speakers,microphones, or any other type of extended functionality that might notbe included on a base level product. Further, in some embodiments thefeature packs 190A can be positioned at different portions of the CMMarm 1A, such as along a transfer member, an articulation member, or asan add-on to the handle 40. In some embodiments it may be possible toremove the feature pack from the base portion of the CMM arm 1A and thenmount it directly to the portable measuring unit 210A.

In some embodiments, the feature pack 190A can be converted into awearable pack 220A. For example, the feature pack 190A can be removedfrom the CMM arm 1A and then be connected to the portable measuring unit210A with a wire or a wireless connection to provide functionalitydirectly to the portable measuring unit 210A. For ease of description,the wearable feature pack 220A will be considered to be the same as thefeature pack 190A, but it can also be an independent unit not meant forattachment to the CMM arm 1A. The wearable feature pack 220A can becarried by the user by hand, on a belt clip, in a pocket, on a wriststrap, on a backpack, physically mounted to the portable measuring unit210A, or in some other way can be attached to the user. In someembodiments, the feature pack 190A can attach to a portable measuringunit 210A as a handle to the portable measuring unit.

As one example of feature pack 190A functionality, a feature pack caninclude a battery, such as a primary battery or an auxiliary battery.Advantageously, in embodiments where the pack 190A is an auxiliarybattery the CMM can include an internal, primary battery that cansustain operation of the CMM while the auxiliary battery is absent orbeing replaced. Thus, by circulating auxiliary batteries a CMM can besustained indefinitely with no direct power connection. Similarfunctionality can be provided to the portable measuring unit 210A,optionally with the same pack 190A.

As another example, a feature pack 190A can include a data storagedevice. The available data storage on the feature pack 190A can bearbitrarily large, such that the CMM arm 1A and/or the portablemeasuring device 210A can measure and retain a large amount of datawithout requiring a connection to a larger and/or less convenient datastorage device such as a desktop computer. Further, in some embodimentsthe data storage device can transfer data to the arm 1A and/or theportable measuring device 210A, including instructions for arm operationsuch as a path of movement for a motorized arm, new commands for the armor device upon pressing of particular buttons or upon particular motionsor positions of the arm or device, or other customizable settings.

In examples where the feature pack 190A includes wireless capability,similar functionality can be provided as with a data storage device.With wireless capability, data can be transferred between the arm 1Aand/or the portable measuring device 210A and an external device, suchas a desktop or laptop computer, continuously without a wiredconnection. In some embodiments, the measuring devices (e.g., the arm 1Aand/or the portable measuring device 210A) can then continuously receivecommands from the external device. Further, in some embodiments theexternal device can continuously display data from the measuringdevices, such as their position or data points that have been acquired.In some embodiments the external device can be a personal computer(“PC”) and the feature pack can transmit data wirelessly to the PC. Saidfeature pack can combine the measured data from various measuringdevices in the feature pack before wireless transmission or transmitthem as separate data streams.

In further embodiments, the feature packs 190A can also include dataprocessing devices. These can advantageously perform various operationsthat can improve the operation of the measuring devices, data storage,or other functionalities. For example, in some embodiments commands tothe measuring devices based on their position can be processed throughthe feature pack. In additional embodiments, the feature pack cancompress or otherwise process data from the measuring devices prior tostorage or transmission to reduce the volume of data that must betransmitted.

Similarly, the feature packs 190A can potentially include a light sourcesuch as a light emitting diode or laser. The light source can beattached, by a fiber optic cable, to the projector or other sources oflight in the non-contact coordinate detection devices described herein.Notably, the act of generating the light can create a substantial amountof heat. Placing these components on a feature pack or other displacedcomponent can reduce heat accumulation near temperature-sensitiveelements of the device.

In another example, the feature pack 190A can also provide mechanicalsupport to the CMM arm 1A. For example, the feature pack can connect tothe base 10 and have a substantial weight, thus stabilizing the CMM. Inother embodiments, the feature pack may provide for a mechanicalconnection between the CMM and a support on which the CMM is mounted.

In yet another example, the feature pack 190A can include thermalfunctionality. For example, the feature pack can include a heat sink,cooling fans, or the like. A connection between the docking portion andthe feature pack can also connect by thermally conductive members toelectronics in the base 10 and the remainder of the relevant measuringdevice, allowing substantial heat transfer between the measuring deviceand the feature pack.

Further, in some embodiments the feature packs 190A can have a size andshape substantially matching a side of the base 10 or the portablemeasuring device 210A to which they connect. Thus, the feature pack 190Acan be used without substantially increasing the size of the measuringdevice, reducing its possible portability, or limiting its locationrelative to other devices. Similar feature packs and other modularfeatures such as a modular handle are described in U.S. Pat. No.8,112,896, which is incorporated by reference in its entirety.

In use, the portable measuring unit 210A can include two non-contactmeasuring devices that are used for different purposes. For example, insome embodiments a laser scanner 60A can be used to measure coordinates,and an area scanner 100A can be used to determine a position of theportable measuring unit 210A in space. In other words, the laser scanner60A can optionally be used to generate points indicative of the shape ofthe object being measured, and the area scanner 100A can be used todetermine the movement of the portable measuring unit 210A. In someembodiments, identifiable markers 105A can be placed on or near theobject being measured to facilitate the location of a particular pointthat can be viewed by the area scanner 100A to determine the position ofthe portable measuring unit 210A. In other embodiments, the object beingmeasured can intrinsically include identifiable features that can servethe same purpose as the markers. In further embodiments, the position ofthe portable measuring unit 210A can be determined using other means,such as a laser tracker (and associated retroreflectors or otherfeatures on the portable measuring unit) and triangulation methods(e.g., multiple sensors at different locations measuring a distance tothe portable measuring unit). Further, in some embodiments the areascanner 100A can also be used to measure coordinates of the object beingmeasured. Optionally, an additional pattern can be projected onto theobject to be measured by one or more additional stationary projectors.The additional projected pattern can be used by the area scanner 100A tosense its movement by the change of position of the additional patternin the camera image. The area scanner 100A could also use the additionalprojected pattern to aid in the point cloud determination as it wouldapply additional texture to the object, in addition to or in replacementof that provided by a projector that is mounted to (and thus moves with)the area scanner 100A and the portable measuring unit 210A. Theadditional projected pattern can optionally provide a rougher texture,used to assist in measurements of the position of the area scanner,while a finer texture can be used for measurements of the object.

To facilitate accuracy of measurements taken by the portable measuringunit 210A, the devices measuring coordinates on the object beingmeasured can be synchronized with the devices measuring the position ofthe portable measuring unit 210A, such that the position of themeasuring unit and the coordinates on the object can be measured at thesame time. Measuring the position of the portable measuring unit 210A atthe same time as measuring coordinates on the object being measured canreduce errors in the measurements caused by movement of the portablemeasuring unit. In some embodiments, the devices measuring the positionof the portable measuring unit 210A (such as the area scanner 100A) canbe configured to run at a frequency equal to or faster than the laserscanner 60A (or other devices measuring coordinates on the object.Further, the devices can be synchronized using trigger signals, such asthose discussed in U.S. Pat. No. 8,112,896, which is incorporated byreference in its entirety.

In further embodiments, the portable measuring unit 210A can optionallyinclude (or use) only an area scanner 100A. In such embodiments, thearea scanner 100A can optionally take measurements that both identifythe position of the portable measuring unit 210A and measure coordinateson the object. When identifiable markers 105A (such as retroreflectivemarkers) or other identifiable features on the object are used, the areascanner 100A can optionally take sets of 3 measurement images. A firstimage can be used to identify the 3 or more markers, and thus alsoidentify the position of the portable measuring unit 210A. A secondimage can be used to measure coordinates on the object, such as a pointcloud, optionally with a projector outputting a structured lightpattern. A third image can, like the first image, be used to identifythe markers and the position of the portable measuring unit 210A.Identifying the position of the portable measuring unit 210A twice canallow the device to detect if the portable measuring unit was movingwhile the images were taken. If significant movement occurred, thesystem can interpolate between the two positions to estimate a positionof the unit when the coordinates on the object were measured. In asimilar manner, measurements can be taken continuously, with the scanner100A alternating between taking images to measure a position of theportable measuring unit 210A and images to measure the object. In afurther embodiment the location of the identifiable markers and themeasured coordinates can be acquired with the same images.

When identifiable markers 105A or other identifiable features are notavailable or otherwise not used, coordinates on the object to bemeasured can be taken in every image. Each image can yield a point cloudof coordinates that can overlap with other images taken by the areascanner 100A. The point clouds in each image can then be stitchedtogether using best fit algorithms to align them together into a singleset of measured coordinates in a common coordinate system, such as withan ICP (Iterative closest point) algorithm. The position of the portablemeasuring unit 210A can then be estimated relative to the object usingthe same images.

FIGS. 16A-16E depict various views of an embodiment portable measuringunit 210A. As shown, the portable measuring unit 210A can include a mainbody 120A that can include a handle portion, and can be configured forattachment to a CMM arm 1A. In the depicted embodiment, a contact probeis not attached, but a contact probe can be attached for use while onthe CMM arm 1A or otherwise, as a mounting portion for a contact probeis included on the portable measuring unit 210A. The main body 120A canalso be configured to have multiple measuring devices mounted to it(including a contact probe). For example, the laser scanner 60A can bemounted to the portable measuring unit 210A with a laser and camera onopposite sides of a contact probe, portion for receiving a contactprobe, or an axis of rotation of the last axis of a CMM arm 1A, whenattached to the CMM arm, similar to the mountings described above. Thearea scanner 100A is depicted as being mounted to the side, and includestwo cameras 115A mounted on opposite sides of a projector 110A. In otherembodiments, the arrangement of these features can be changed. Forexample, in some embodiments the laser scanner 60A can be on one lateralside of the device, and the area scanner 100A can be on another lateralside or be disposed about the center. When the area scanner 100A isdisposed about the center, it can optionally have a configuration of twocameras above the axis L1 and the projector below such that it could bereceived into recess 92 (depicted in FIG. 3B). As best depicted in FIG.16E, the laser scanner 60A and the area scanner 100A can mount to a mainbody 120A of the portable measuring unit 210A independent of oneanother, such that either can be removed while the other is stillattached.

The area scanner 100A can optionally include two high resolutioncameras, such as a CMOS camera with 1.0-5.0 megapixels, although higheror lower resolutions are also possible. CCD cameras can also be used.Alternatively, the cameras can be image sensors which interface withscanner electronics. Each camera can include a lens such that they focusat a specific distance and field of view, such as a 200 mm×200 mm areaat a distance of 200 mm. This can set an optimum distance from theobject to take measurements, and similarly affect the accuracy and areathat can be measured at a single time. In other embodiments, the lensesand cameras can be varied to include a wider or smaller field of view,allow viewing from a further or closer distance, use higher or lowerresolution cameras, etc. Further, in some embodiments one camera or morethan two cameras can be used. Further, LEDs or other light sources canoptionally be disposed around or near each camera and be configured toilluminate a region imaged by the cameras. The LEDs can optionally emitlight at a particular wavelength and the cameras can optionally includelenses configured to filter light to remove undesirable wavelengths.Thus, the cameras can potentially capture substantially only lightoriginating from the LEDs.

Further, the area scanner can optionally include a projector 110A. Theprojector 110A (or a plurality of projectors) can be configured tooutput a structured light pattern onto the object to be measured, withinthe field of view of the cameras. For example, the structured lightpattern can be a random, semi-regular, or regular dot pattern. The lightcan be provided by a laser light source, and the structured pattern canbe provided using a diffractive optic of etched glass. However, otherfeatures can be used to create the pattern. For example, in someembodiments LEDs can be used, with blue light, red light, infraredlight, etc. In other embodiments the projector can be a Digital LightProcessing (DLP) Projector. The structured light can be used to create atexture on the object to be measured. In some embodiments the projectedpattern can be a series of random, or non-repeating or repeating uniqueshapes such that a specific region in one camera can be identified inanother camera. On objects where a texture is already present, it mightbe preferable to not use a projector 110A. Further, the projector(s) canoptionally be separated from the cameras, such as when the projector isdisposed on a stationary mount. The cameras can continue to utilize thepattern from the projector as long as they measure surfaces adequatelyilluminated by the projector.

Various algorithms can be used by the non-contact measuring devices toconvert detected images into measured coordinates. For example,triangulation can be used to detect coordinates, particularly with alaser line scanner. Stereo vision can also be used, particularly witharea scanners including two or more cameras. Other techniques, such asStructure from Motion and Simultaneous Localization and Mapping are alsopossible.

Further, the different measuring devices can mount together to aportable measuring unit 210A and the CMM arm 1A through a variety ofways. For example, as shown best in FIGS. 16A-16C, the laser scanner 60Aand the area scanner 100A can mount to a main body 120A. The main body120A can then optionally mount to structures that can include a handle,electronic connections, and kinematic connections, facilitating use withthe CMM arm 1A. The portable measuring unit 210A can include a portionfor receiving a contact probe. Further, as discussed herein, theportable measuring unit 210A can be configured to mount to a CMM arm 1A,such as with a kinematic mount. In other embodiments, the portablemeasuring unit can be a separate and independent device from the CMM arm1A, such that it does not mount to the CMM arm. For example, the laserscanner 60A and/or the area scanner 100A can optionally attach to ahandle or other device that is not designed to be used with the arm, asfurther discussed below.

FIGS. 16F, 16G show that the portable measuring unit 210A can alsoinclude special connectors for the area scanner 100A to attach to a sideof the main body 120A. As shown in FIG. 16F, the main body 120A caninclude a side mounting portion configured to receive the area scanner100A depicted in FIG. 16G. The side mounting portion can include bothelectrical and physical connections, such that the area scanner 100A canmount easily and directly at that portion. Mounting in this sideposition can also allow the area scanner 100A to mount/dismount withoutthe need to remove a laser scanner 60A that is mounted over afront-facing portion of the main body 120A. Similarly, the laser scanner60A can also optionally mount/dismount without the need to remove thearea scanner 100A. The mounting portion for the area scanner 100A isshown on the side, but could be located elsewhere on the portablemeasuring unit such as on the top, bottom, front, handle or elsewhere.

FIG. 17 depicts another embodiment of main body 120B of a portablemeasuring unit. As shown, the portable measuring unit in FIG. 17 canhave a substantially smaller main body 120B than the portable measuringunit 210A depicted in FIGS. 16A-16F, not including a pistol grip. Thus,the main body 120B could allow a user to maneuver a portable measuringunit into smaller spaces. Further, in some embodiments the main body120B can be configured to optionally receive a pistol-grip handle orother features that can be attached and removed without tools.Additionally, as shown, the main body 120B can include a connectionportion for measuring devices and various buttons or other user inputs,as discussed herein.

FIGS. 18A-18C depict another embodiment portable measuring unit similarto previous embodiments. FIG. 18A depicts the portable measuring unit210C mounted to a CMM arm 1C. FIGS. 18B and 18C show the portablemeasuring unit 210C in use while detached from the CMM arm 1C. Theportable measuring unit 210C can include an area scanner 100C mountedabout a contact probe mounting portion, as discussed herein regardingmounting of a laser scanner about the contact probe (or a portion forreceiving a contact probe, or about a last axis of rotation of a CMM armto which it can be attached, otherwise referred to here as the center).The area scanner 100C can include two cameras 115C on opposite sides ofthe center. Further, the area scanner can include a projector 110Cdirectly below the center. In other embodiments, the location of thecameras 115C and projector 110C can vary, such as with the projectorlocated between the two cameras and above the probe portion. The areascanner depicted in FIGS. 18A-18C can be mounted using the electricaland mechanical kinematic mounting techniques described herein, includingthose described for laser scanners such as the laser scanner 60′depicted in FIGS. 8-10. For example, the area scanner can be configuredto mount in a location similar to the laser scanner, such that theycannot both be used on the arm at the same time. Additionally, anadvantage of this design is that the laser scanners and area scannerscan be mounted and removed easily by a user, interchangeably convertingthe system from a contact probe measuring system to a laser scanningsystem to an area scanning system to a portable measuring unit with thesame functionalities.

FIG. 19 depicts another embodiment portable measuring unit 210D that canbe used as part of a system with a CMM arm 1D, similar to thosediscussed above. The portable measuring unit 210D can be substantiallysimilar to the portable measuring unit 210C depicted in FIGS. 18A-18Cand can operate in a substantially similar manner. However, as shown,the handle 40D on the CMM arm 1D can be separate from the portablemeasuring unit 210D. More particularly, the portable measuring unit 210Dcan include its own portable handle, having similar features andfunctionality but still distinct from the handle 40D used with the CMMarm 1D. Even further, the portable handle can optionally formsubstantially all of the main body 120D of the portable measuring unit210D, such that the portable measuring unit is physically substantiallyjust a handle and one or more scanners attached to it. Thus, the handle40D on the CMM arm 1D could optionally be configured to be substantiallyirremovable from the arm while the scanners are removable.

The area scanner 100D can thus mount to the CMM arm 1D, in ways similarto those discussed above, and it can also mount to the portablemeasuring unit 210D in ways similar to those discussed above. Similar tothat shown in FIG. 16E, the main body 120D of the portable measuringunit 210D can include an attachment portion for receiving a contactprobe, and the area scanner 100D (or other scanners) can mount over thisattachment portion. However, in other embodiments, the main body 120Dcan optionally not include an attachment portion for a contact probe,while an attachment portion is still provided on the CMM arm 1D and it'shandle 40D. Removing the attachment portion for the contact probe fromthe main body 120D can simplify the design for mounting the area scanner100D.

Separating the main body 120D from the handle 40D on the CMM arm 1D canallow each to be optimized for their specific functions. For example,the handle 40D on the CMM arm 1D is part of a last axis of rotation ofthe CMM arm, located between rotational encoders on the arm and thecoordinate detection devices. Thus, the handle 40D and its associatedcomponents need to be substantially rigid to prevent undesirabledeflections that add error to any measurements. These designconsiderations often call for stronger, bulkier, and heavier materials.Meanwhile, the main body 120D can be substantially light, such that itis easy to carry. Thus, the main body 120D does not need to be asstrong. For example, it may be desirable for the handle on a CMM arm tobe heavier than the handle of a portable measuring unit, or strongerthan the handle of a portable measuring unit. If more components areincluded in the portable measuring unit, as further discussed below,then the same can be said for just the physical load-bearing portions ofthe handles.

Further, the main body 120D can include different electronics than thosedesired in a handle 40D or other components on the CMM arm 1D. Whileattached to the arm 1D, the coordinate detection devices can bepotentially connected by wire, through the arm, to power sources, datatransfer wires, and other resources. The main body 120D can carry itsown power source, memory, processors, wireless data transceivers, andother components for mobile use. It is also possible for the portablemeasuring unit 210D to still have a wired connection (e.g., to a featurepack 220C carried by the user, or to another accessory device). However,even in this situation, it can be desirable to have separate structuresgiven the physical requirements of a wired connection.

However the CMM arm 1D and associated portable components can bedesigned and arranged, it is often desirable to eventually direct thedata to another device such as a broader data network that can include,for example, a computer. The network can optionally communicate with thearm by wire or wirelessly. The network can also optionally communicatedirectly with a portable measuring unit by wire or wirelessly. Evenfurther, the portable measuring unit can optionally communicate with theassociated arm by wire or wirelessly (for example, if the data is to betransmitted from the portable measuring unit to the arm, and then to thenetwork from the arm). Thus, for example, a portable measuring unitmight communicate wirelessly with an arm, which then communicates by awired connection with the network.

Even further, in some embodiments, various feature packs can be includedin the chain of communication. For example, in some embodiments afeature pack might provide wireless communication capability to a CMMarm. While scanners from the portable measuring unit are connected tothe CMM arm, the feature pack might also provide wireless capability tothem (and by association, to the portable measuring unit). Then, thefeature pack can be configured to also attach by wire directly to aportable measuring unit or otherwise communicate wirelessly and directlywith the portable measuring unit, such as with the feature packs 220A(described above).

Particularly with scanners, large amounts of data can be generatedduring measurement. Further, this large amount of data can require alarge amount of processing power to determine measured coordinates. Auser might want to have a real-time indication of what has been measured(for example, to avoid redundant measurements or unmeasured areas).However, processing capabilities on the portable measuring unit or CMMarm might be limited due to size/weight constraints, energy constraints,or thermal constraints. Thus, one might prefer to process the data onanother device such as the CMM arm or a separate network. However, thisseparation of data processing can add delay to the user's feedback.Additionally, bandwidth for data transmission might limit the speed atwhich the data can be passed between devices. Thus, it may be desirableto simultaneously reduce the processing requirements for user feedbackon the measuring devices, while also reducing the amount of data thatmust be transmitted.

For feedback, a user might want to know what places have been measured,without needing to know the specific values of the coordinates that weremeasured, or without needing to know the values with full precision.Thus, in some embodiments, a processor on the CMM arm or the portablemeasuring unit can be configured to process the data sufficiently toindicate what coordinates have been measured, without actuallydetermining the values of those coordinates, or determining the valuesto full precision. In some embodiments, this may be accomplished bymeasuring the coordinates at a lower level of precision than the fullprecision available. For example, the processor might only process lowerresolution versions of images captured by a scanner. The lowerresolution versions can be produced, for example, by ignoring a certainportion of the pixels, such as every N out of every M pixels, such as 9out of 10, 8 out of 10, or other ratios. The lower resolution versionscan also use a lower resolution in certain portions of each image, andhigher resolution versions in other areas. For example, the image can beprocessed at high resolutions along the edges of the image, and lowerresolution in the center, such that an area of points measured can bedetermined by its borders. Similarly, instead of using a low resolutionversion of the image, a processor can instead skip (or ignore) pixels inthe image (such as 1 out of every 10 pixels, 2 out of every 10 pixels,or other ratios). The skipping of pixels can also be done to varyingdegrees, in different regions, as discussed above with low resolutionversions of the images.

The measuring device can indicate to a user what points have beenmeasured, such that the user can avoid redundant measurements, ensurethat desired areas have been measured, or otherwise consider what hasand has not been measured. Further, the processor on the device canoptionally provide additional information to the user, such as an imageof the object according to the measured coordinates, numerical values ofthe measured coordinates, the expected accuracy of particularmeasurements, the existence of overlapping measurements that appear tobe inconsistent, edges of measured objects, or other information.

This information can be provided to the user in a variety of ways. Forexample, the information can be provided on a display mounted on the CMMarm, such as at a base, on a transfer member, or at a distal end of thearm near the coordinate measurement device(s). Similarly, a display 230Dcan be mounted on a portable measuring unit (as depicted in FIG. 20),such as on a rear side of the portable measuring unit, facing the userwhile being held as a pistol grip. Even further, in some embodiments thedisplay can allow instructions to be inputted to the device, such as byincluding a touchscreen similar to those provided on a mobile phone ortablet computing device. In some embodiments, the display can be auser's mobile phone or tablet computing device, and this can serve as afeature pack to the portable measuring unit similar to other featurepacks described herein. Further, the phone can be used for transportingdata from the portable measuring unit to other devices. The informationprovided by the display can similarly be provided by audio speakers orhaptic feedback devices mounted on either of the portable measuring unitor the CMM arm, preferably on a handle for haptic feedback. Combinationsof these devices can also be used, such as a sound or haptic feedbackalerting a user to look at a display for further information.

As discussed above, the data collected by the measuring devices can alsobe transferred (e.g., from a portable measuring unit to an arm ornetwork, and from an arm to a network). In some embodiments, the dataconnection available during use might be too slow to allow all of thedata to be transferred in real time. Thus, the portable measuring unitand the CMM arm can optionally include memory for storing the data untila later transfer time. This memory can optionally be kept on a featurepack, and as discussed above, the feature pack can optionally be usablewith either of the CMM arm or the portable measuring unit, and canfurther be used by both.

Data can then optionally be transferred after measurements arecompleted. For example, in some embodiments the data can be transferredcontinuously during measurement, and the data that could not transferredduring that time can be transferred later. In other embodiments, all ofthe data can be stored in the memory, and then transferred at a latertime. When the device communicates wirelessly during use, it canoptionally be attached by wire after use to allow faster transfer of theremaining data. Further, in some embodiments, low resolution images canbe transferred in real-time to the network (for example, so the networkcan provide feedback in real-time), and high resolution images can betransferred later.

The feature pack can also optionally offload further functionality fromthe portable measuring unit. For example, the light source for aprojector can optionally be disposed in a feature pack. The feature packcan be connected to the portable measuring unit by optical fiber, suchthat the light can travel from the feature pack to the projector on theportable measuring unit. Light sources can require space, weight, andpower, and further can generate heat. Each of these can advantageouslybe removed from the portable measuring unit, facilitating measurement bya user.

FIG. 21 depicts a structural diagram of a coordinate measuring system.Although certain features are shown, in some embodiments additionalfeatures can be added or omitted. The measuring system can include anarea scanner 100A and a laser scanner 60A that are connected to armwrist electronics, which can be part of a portable coordinate measuringunit 210A, as discussed herein. The area scanner 100A can include twocameras, each with associated LEDs. The cameras can be sufficient tomeasure coordinates in some situations. However, it may be desirable toprovide extra illumination with the LEDs. Further, in some situations itmay be desirable to provide structured light from a projector, which canbe included in the area scanner 100A. The area scanner 100A can furtherinclude a hub that can facilitate control, power, and data transmissionbetween the area scanner 100A and the other devices.

The laser scanner 60A can include a laser configured to output a line oflight onto an object, and a camera configured to image said line on theobject. Data from the camera can be passed along to a processing andcommunication electronics module. Notably, the hub on the area scanner100A can also include a processing and communication electronics module.These modules can be used to control the sensors, lasers, LEDs,projectors, and other features on the devices. Further, they canoptionally be configured to output data from the sensors, either asreceived or with some amount of pre-processing.

The measuring device structure 200A (and thus, optionally also theportable measuring unit 210A) can include electronics in a wrist portionof the CMM arm 1A near a last axis of the arm. The portable measuringunit 210A can include a switch that can activate and deactivate the areascanner 100A and the laser scanner 60A. Thus, different modes asdescribed herein can be provided by using the switch to activate ordeactivate the desired measuring devices. One method of operation of theswitch can be to select between modes of measuring with the contactprobe, laser line scanner, or area scanner.

Further, the portable measuring unit 210A can include a trigger signalgenerator. The trigger signals generated can be sent to the area scanner100A, the laser scanner 60A, the CMM arm 1A, or other measuring devices.As discussed above, the trigger signals can facilitate synchronizationbetween the various devices, such that measurements can be taken at thesame time. Thus, for example, if the portable measuring unit 210A isattached to the arm 1A, the trigger signals can synchronize themeasurements of the position of the arm with measurements taken byeither or both of the scanners 60A, 100A. This can be particularlyuseful when the devices are intended to continuously measurecoordinates. Thus, the trigger generator can continuously output triggersignals, allowing continuous synchronized measurements.

Further, the portable measuring unit 210A can include an event printedcircuit board (PCB). The PCB can optionally control the area scanner100A, and particularly the cameras and projector on the area scanner100A. Thus, for example, when a button is pressed the PCB can indicatethe projector to output a structured light pattern, and the cameras canthen record an image.

Data from the measuring devices 100A, 60A can be passed to the switch onthe portable measuring unit 210A. This data can then be provided toother computing devices. For example, as shown the data can be passed toa feature pack. In some embodiments, the feature pack can remain on theCMM arm 1A (as shown in U.S. Pat. No. 8,112,896, which is incorporatedby reference in its entirety). In other embodiments, the feature packcan be carried by the user, such as the wearable pack 220A, while theportable measuring unit 210A is detached from the CMM arm 1A. Data canbe transferred from the portable measuring unit 210A either by a wiredconnection or a wireless connection. Further, in some embodiments theportable measuring unit 210A can include a memory to store measureddata, to be transmitted to other devices at a later time. The featurepack can be connected to a computer in a similar manner (by wire,wirelessly, or including a memory for later data transfer).

Notably, given the amount of data generated by the cameras, it may bedesirable to provide some data processing prior to transmission orstorage in memory to reduce the volume of data. Thus, for example, anyof the hub, processing and communication electronics, switch, or featurepack can be configured to process the data, either to compress images,convert images into measured point clouds or disparity maps, or otherprocessing.

The feature pack can include a system-on-module chip and/or a graphicsprocessing unit. The computer can similarly include a processor and agraphics processing unit. Thus, either of the feature pack or thecomputer can be configured to process the data and create visualdisplays of the data generated by the measuring devices. In furtherembodiments, a system-on-module and/or graphics processing unit can bephysically located on the portable measuring unit 210A.

As described herein, the portable measuring units can be used in avariety of ways. Further, they can also be combined with a CMM arm totake measurements. Thus, a user can take measurements while a measuringdevice structure (and its component measuring devices) are attached tothe CMM arm. It can then be removed or detached from the CMM arm andtake additional measurements of the same object or a different object asa portable measuring unit. The portable measuring unit can then bereattached to the CMM arm, and further measurements can be taken of thesame object. Additionally, one can easily add and remove variousmeasuring devices, using features such as a kinematic mount, electricalconnections, a bayonet connector, and other features. Measurements ofthe object taken by each device, in each mode, can be associated witheach other into a single coordinate system such that one unitary set ofmeasurements of the object can include all of said measurements.

The various devices, methods, procedures, and techniques described aboveprovide a number of ways to carry out the invention. Of course, it is tobe understood that not necessarily all objectives or advantagesdescribed may be achieved in accordance with any particular embodimentdescribed herein. Also, although the invention has been disclosed in thecontext of certain embodiments and examples, it will be understood bythose skilled in the art that the invention extends beyond thespecifically disclosed embodiments to other alternative embodimentsand/or uses and obvious modifications and equivalents thereof.Accordingly, the invention is not intended to be limited by the specificdisclosures of preferred embodiments herein.

What is claimed is:
 1. A coordinate measuring machine system comprising:an articulated arm comprising a plurality of transfer members and aplurality of articulation members connecting at least two transfermembers to each other, a base at a proximal end, and a mounting portionat a distal end; a contact probe configured to be mounted to themounting portion such that the articulated arm can measure a positioncontacted by the contact probe; and one or more non-contact measuringdevices configured to be mounted to the mounting portion such that thearticulated arm can measure a plurality of positions simultaneously withthe one or more non-contact measuring devices, wherein the one or morenon-contact measuring devices are configured to be removed from themounting portion and measure a plurality of positions simultaneouslywhile not mounted to an articulated arm coordinate measuring machine,wherein at least one of the one or more non-contact measuring devices isconfigured to provide immediate feedback to a user based on measurementsof lower precision than the precision available from non-contactmeasuring device.
 2. The coordinate measuring system of claim 1, whereinthe articulated arm comprises a handle.
 3. The coordinate measuringsystem of claim 1, further comprising a portable handle separate fromthe handle on the arm, the portable handle being configured to receivethe one or more non-contact measuring devices while not mounted to thearticulated arm coordinate measuring machine to form a single portablemeasuring unit.
 4. The coordinate measuring system of claim 3, whereinthe portable handle comprises electronics configured to provide aplurality of features to the one or more non-contact measuring devices.5. The coordinate measuring machine system of claim 1, wherein the oneor more non-contact measuring devices are configured to be removed fromthe mounting portion as a single portable measuring unit.
 6. Thecoordinate measuring machine system of claim 5, wherein the portablemeasuring unit comprises a handle portion.
 7. The coordinate measuringmachine system of claim 1, further comprising a wearable pack configuredto provide one or more of power, data transmission functionality, datastorage, and electronic control to the one or more non-contact measuringdevices while removed from the mounting portion.
 8. The coordinatemeasuring machine system of claim 1, wherein one of the one or morenon-contact measuring devices is a laser scanner.
 9. The coordinatemeasuring machine system of claim 1, wherein one of the one or morenon-contact measuring devices is an area scanner.
 10. The coordinatemeasuring machine system of claim 9, wherein the area scanner comprisestwo or more cameras.
 11. The coordinate measuring machine system ofclaim 9, wherein the area scanner comprises a projector configured tooutput a structured light pattern.
 12. The coordinate measuring machinesystem of claim 1, wherein the one or more non-contact measuring devicescomprises a laser scanner and an area scanner removable together as asingle portable measuring unit.
 13. The coordinate measuring machinesystem of claim 12, wherein the area scanner is configured to measure aposition of the portable measuring unit and the laser scanner isconfigured to measure coordinates of an object.
 14. The coordinatemeasuring machine system of claim 1, wherein the contact probe isremovable from the mounting portion with the one or more non-contactmeasuring devices.
 15. The coordinate measuring system of claim 1,wherein the non-contact measuring device skips pixels when processingimages captured by the non-contact measuring device to determinemeasured coordinates.
 16. The coordinate measuring system of claim 1,wherein the non-contact measuring device, at least when not mounted toan articulated arm coordinate measuring machine, forms single portablemeasuring unit comprising a display.
 17. The coordinate measuring systemof claim 16, wherein the display is configured to provide immediatefeedback to a user of the single portable measuring unit, the feedbackbased at least on coordinates measured by the single portable measuringunit.
 18. The coordinate measuring system of claim 16, wherein thedisplay provides immediate feedback to the user indicating wheremeasurements of an object have been made.
 19. The coordinate measuringsystem of claim 1, further comprising a light source separated from theone or more non-contact measuring devices and attached to thenon-contact measuring devices by a fiber optic cable such that aprojector on the non-contact measuring device can output light from theseparated light source.
 20. The coordinate measuring system of claim 19,wherein the separated light source is provided on a feature pack.
 21. Amethod of measuring an object comprising: measuring the object with ameasuring device mounted on an articulated arm coordinate measuringmachine; removing the measuring device from the articulated armcoordinate measuring machine; measuring the object with the measuringdevice while not mounted on the articulated arm coordinate measuringmachine; and providing immediate feedback, based on measured coordinateswith less precision than the full precision available from the measuringdevice, to a user while measuring the object with the measuring devicewhile not mounted on the articulated arm coordinate measuring machine.22. The method of claim 21, wherein the step of measuring the objectwith the measuring device while not mounted on the articulated armcoordinate measuring machine is done after measuring the object with themeasuring device mounted on the articulated arm coordinate measuringmachine.
 23. The method of claim 21, wherein the steps of measuring theobject with the measuring device while mounted and not mounted on thearticulated arm coordinate measuring machine are done withoutpowering-off the measuring device.
 24. The method of claim 21, furthercomprising the steps of: remounting the measuring device to thearticulated arm coordinate measuring machine; and measuring the objectwith the measuring device while mounted on the articulated armcoordinate measuring machine, after measuring the object with themeasuring device while not mounted on the articulated arm coordinatemeasuring machine.
 25. The method of claim 21, wherein the measuringdevice is part of a portable measuring unit that can be mounted to andremoved from the articulated arm coordinate measuring machine, theportable measuring unit comprising two or more measuring devices. 26.The method of claim 25, wherein the measuring device comprises a laserscanner and an area scanner.
 27. The method of claim 26, furthercomprising the steps of: measuring a position of the portable measuringunit while not mounted to the articulated arm coordinate measuringmachine using measurements made by the area scanner; and wherein thestep of measuring the object while not mounted to the articulated armcoordinate measuring machine is done by the laser scanner.
 28. Themethod of claim 26, further comprising synchronizing measurements takenby the laser scanner and the area scanner.
 29. The method of claim 21,wherein the measuring device comprises an area scanner.
 30. The methodof claim 21, wherein the immediate feedback is based on measurementsdetermined while skipping pixels in images captured by the measuringdevice.
 31. The method of claim 21, further comprising attaching aportable handle separate from the articulated arm coordinate measuringmachine to the measuring device after removing the measuring device fromthe articulated arm coordinate measuring machine, such that the handleis attached while measuring the object with the measuring device whilenot mounted on the articulated arm coordinate measuring machine.
 32. Themethod of claim 31, further comprising functionality to the measuringdevice from the portable handle distinct from functionality availablethrough the articulated arm coordinate measuring machine.
 33. Thecoordinate measuring system of claim 1, wherein the non-contactmeasuring device captures an image and the measurements of lowerprecision include a level of precision for borders of the image that ishigher than a level of precision for a center of the image.
 34. Themethod of claim 21, wherein the measuring device captures an image andthe measured coordinates with less precision include a level ofprecision for borders of the image that is higher than a level ofprecision for a center of the image.